Improved modeling of pneumatic muscle actuator using recurrent neural network

Abstract

Derivation of models of complex nonlinear systems usually incorporates a number of simplifications in modeled phenomena with the level of these simplifications being dictated primarily by its intended purpose. If the overall model accuracy is insufficient, it might be helpful to use the powerful approximation capabilities of universal approximators like neural networks which are capable of approximating certain types of functions to arbitrary degree of accuracy. On the other hand, using black-box modeling techniques can impair the resulting extrapolation qualities of the model as well as eliminate its physical interpretation. Here an improved dynamic modeling of one-DOF pneumatic muscle actuator using recurrent neural network is proposed. The proposed method preserves the physical meaning of the model while improving its accuracy compared to the original analytic model. System and model responses are compared in closed-loop (using conventional PD controller) and all unmodeled dynamics is treated as disturbance which is identified using Elman neural network It is shown that the resulting model is applicable for model-based control system design with greater precision.